كتاب الْمَسَاجِدِ وَمَوَاضِعِ الصَّلاَةِ
5  
The Book of Mosques and Places of Prayer
(5)
Chapter: The recommendation to place the hands on the knees when bowing, and the abrogation of tatbiq
(5)
باب النَّدْبِ إِلَى وَضْعِ الأَيْدِي عَلَى الرُّكَبِ فِي الرُّكُوعِ وَنَسْخِ التَّطْبِيقِ ‏
Sahih Muslim 535 c

Ibn Sa'd reported:

I bowed and my hands were in this state, i. e. they were put together, palm to palm, and were placed between his thighs. My father said: We used to do like this but were later on commanded to place them on the knees.
حَدَّثَنَا أَبُو بَكْرِ بْنُ أَبِي شَيْبَةَ، حَدَّثَنَا وَكِيعٌ، عَنْ إِسْمَاعِيلَ بْنِ أَبِي خَالِدٍ، عَنِ الزُّبَيْرِ بْنِ عَدِيٍّ، عَنْ مُصْعَبِ بْنِ سَعْدٍ، قَالَ رَكَعْتُ فَقُلْتُ بِيَدَىَّ هَكَذَا - يَعْنِي طَبَّقَ بِهِمَا وَوَضَعَهُمَا بَيْنَ فَخِذَيْهِ - فَقَالَ أَبِي قَدْ كُنَّا نَفْعَلُ هَذَا ثُمَّ أُمِرْنَا بِالرُّكَبِ ‏.‏
Reference : Sahih Muslim 535c
In-book reference : Book 5, Hadith 36
USC-MSA web (English) reference : Book 4, Hadith 1091
  (deprecated numbering scheme)